CN101038165A - Vehicle environment based on two eyes visual and distance measuring system - Google Patents
Vehicle environment based on two eyes visual and distance measuring system Download PDFInfo
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- CN101038165A CN101038165A CN 200710064018 CN200710064018A CN101038165A CN 101038165 A CN101038165 A CN 101038165A CN 200710064018 CN200710064018 CN 200710064018 CN 200710064018 A CN200710064018 A CN 200710064018A CN 101038165 A CN101038165 A CN 101038165A
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Abstract
The present invention discloses a measuring system of vehicle environment and distance based on binocular vision. The measuring system consists of a detector based on DSP which consists of a hardware circuit and a binocular vision image module that is storied in the program memory of the hardware circuit, a two-degree of freedom tripod head, an electric motor, a first vidicon head, and a second vidicon head. The binocular vision image module adopts a mixed programming method by the assembly language and the C language; the concrete data of the environment in and out of the vehicle and the distances between the vehicle and the front vehicle and between the vehicle and the back vehicle is obtained by processing, analyzing, explaining, and judging the image by the CCS integrated development environment, and the data is output through a serial port drive circuit, and the output information can be displayed on the LCD displayer on the vehicle. The system in the present invention adopts two vidicon heads to grab images of the object to realize that the real time identifying of the dynamic or static object and the measuring of the distance between the objects are performed by the system that has a function of two eyes of a human being.
Description
Technical field
The present invention relates to technical field of image processing, specifically, be meant a kind of vehicle environment and Range Measurement System based on binocular vision.
Background technology
The monitoring of automotive environment comfort level and safe driving situation is the hot issue that automobile industry is paid close attention to always.The subenvironment parameter monitoring mainly utilizes special-purpose physical quantity transducer in the car, constitutes complicated detection system.Yet,,, be difficult to accurately infer the parameter distribution situation in whole space from certain any parameter values for detection for finite space scope.Simultaneously, need the relevant detection sensor because different parameters detects, therefore, the monitoring of environment inside car and driving condition needs complicated multisensor syste cooperation to finish, and has not only improved the manufacturing cost of automobile, has also caused higher equipment failure rate.
The data message that picture pick-up device is gathered is more reliable more than the data message of sensor acquisition, and its image information coverage is bigger, and the quantity of sensor significantly reduces, and when improving detection accuracy, can reduce breakdown rate.Therefore, the inventor proposes a kind of by image information being carried out the technological means that the processing of apery binocular vision is obtained distance, weather conditions and monitored driver fatigue state, has guaranteed traffic safety effectively.
Summary of the invention
The purpose of this invention is to provide a kind of vehicle environment and Range Measurement System based on binocular vision, check signal Processing and be controlled to be core in DSP being, combination image collection with minisize pick-up head and cradle head of two degrees of freedom, and by forward and backward position in car system of the present invention is installed respectively, realized Real time identification dynamically or static object and and target between distance.
The present invention is a kind of vehicle environment and Range Measurement System based on binocular vision, is made up of detecting device, cradle head of two degrees of freedom, four motors, first camera and second cameras based on DSP.Cradle head of two degrees of freedom is connected by cable with detecting device based on DSP, and four motors, first camera, second cameras are assemblied on the cradle head of two degrees of freedom.Described detecting device based on DSP is made up of hardware circuit and binocular vision image module, and the binocular vision image module is stored in the program storage of hardware circuit.The binocular vision image module adopts the method for compilation and C language hybrid programming, and the CCS Integrated Development Environment is carried out the concrete data that treatment of picture, analysis, explanation, judgement are obtained the car internal and external environment, and with the actual range of front and back vehicle, and export through the serial port drive circuit.
Hardware circuit of the present invention includes center processor U1, program storage U2, data-carrier store U3, the first image capture module U11, the second image capture module U12, serial port drive circuit U 10, the first image capture module U11, the second image capture module U12, the first camera clock U15, the second camera clock U16, power supply circuit; In the present invention, power supply circuit is the custom circuit structure, but 1.8V that provides at dsp processor and 2.5V power supply are the unique point of power supply of the present invention.In the present invention, first camera is with the image output sequence image information f after the first image capture module U11 handles that collects
1Give dsp processor, dsp processor is receiving described sequence image information f
1Drive clock control by the first camera clock U15, described drive clock is 24MHz.Second camera is with the image output sequence image information f after the second image capture module U12 handles that collects
2Give dsp processor, dsp processor is receiving described sequence image information f
2Drive clock control by the second camera clock U16, described drive clock is 24MHz.The sequence image information f of dsp processor to receiving
1, sequence image information f
2In " binocular vision image module ", carry out the processing of apery binocular vision after 10 outputs of serial port drive circuit U.
The present invention is based on the vehicle environment of binocular vision and the advantage of Range Measurement System is: (1) adopts dual camera that target is carried out image acquisition, has realized that really apery binocular Real time identification dynamically or the distance between static object and measurement target; (2) on cradle head of two degrees of freedom to the location positioning at 2 controlled visual angles of camera, guaranteed the continuity that image information (controlled visual angle pixel) is gathered; (3) the binocular vision image module is handled in real time to binocular consecutive image information, pursuit movement target direction, distance, the character of recognition objective, and can be used for the identification of vehicle-mounted ambient condition, weather conditions outside for example light power, rain, snow mist are waited for bus, the spacing before and after also can being used to measure between the car guarantees traffic safety, vision localization when also can be used for stopping guarantees to stop accurately and reliably; (4) the cradle head of two degrees of freedom structural design has realized that binocular camera shooting head direction can total space scan control, and binocular angle α can use in 30～80 degree images acquired, guarantees the detection accuracy of target range scope; (5) system of the present invention can be used as detection, analysis, the identification of specific objective, also can be used as the security monitoring to the place, and its size is little, is easy to carry about with one.
Description of drawings
Fig. 1 is the structural drawing of cradle head of two degrees of freedom of the present invention.
Fig. 2 is the A-A view of Fig. 1.
Fig. 3 is the structured flowchart that the present invention is based on the detecting device of DSP.
Fig. 4 A is a dsp processor peripheral circuit schematic diagram.
Fig. 4 B is the circuit theory diagrams of dsp processor and two image capture modules.
Fig. 4 C is the circuit theory diagrams that dsp processor address, data message are exported through resistance.
Fig. 4 D is the circuit theory diagrams of program storage.
Fig. 4 E is the circuit theory diagrams of data-carrier store.
Fig. 4 F is the serial port drive circuit theory diagrams.
Fig. 4 G is 1.8V and 2.5V power circuit diagram.
Fig. 5 is the processing flow chart of dsp processor of the present invention to image information.
Fig. 6 is a binocular vision angle synoptic diagram.
Among the figure: 1. the first roating sphere 11. motor A 12. driving gears 13. driven gears 14. rotating shaft B 15. ball bearings 16. right spheroid 17. left spheroid 18. left sides, 2. second roating spheres 3. first shape framves 31. rotating shaft A 32. ball bearings 34. left root 35. left surfaces 4. second U-shaped framves 5. first turntables 51. motor C52. driven gears 53. driving gears 54. ball bearings 55. back shafts 6. second turntables 7. screws 8. pedestals 81. through holes 9. circular hole A 10. circular hole B of 33. right radical sections
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
The present invention is a kind of vehicle environment and Range Measurement System based on binocular vision, is based on the vision mode of day light intensity, rainwater flow, front-and-rear vehicle distance and the relative velocity of image information, realizes that the multifunctional all of driving environment and situation is monitored in real time.Because the contrast of image, gray scale, sharpness can be with the day light intensity, rain mark density, mist snow visibility changes.Simultaneously, utilize the binocular vision range measurement principle, can measure the front-and-rear vehicle distance and the speed of a motor vehicle in the motion.So, only system of the present invention need be installed on before the car and behind the car, promptly use two groups of binocular vision measuring systems of the present invention, just can monitoring car internal and external environment and safe driving situation.Hardware configuration of the present invention is simple, and is with low cost, but with high content of technology, reliable operation.
The present invention is a kind of vehicle environment and Range Measurement System based on binocular vision, is made up of detecting device, cradle head of two degrees of freedom, four motors (driving the motor C51 of the motor A11 of first roating sphere 1, the motor B that drives second roating sphere 2, driving first turntable 5, the motor D of driving second turntable 6), first camera (being installed among the circular hole A9 in first roating sphere 1) and second camera (being installed among the circular hole B10 in second roating sphere 2) based on DSP.Cradle head of two degrees of freedom is connected by cable with detecting device based on DSP, and four motors, first camera, second cameras are assemblied on the cradle head of two degrees of freedom.Described detecting device based on DSP is made up of hardware circuit and binocular vision image module, and the binocular vision image module is stored among the program storage U2 of hardware circuit.The binocular vision image module adopts the method for compilation and C language hybrid programming, and the CCS Integrated Development Environment is carried out the concrete data that treatment of picture, analysis, explanation, judgement are obtained the car internal and external environment, and with the actual range of front and back vehicle, and through 10 outputs of serial port drive circuit U.
Be symmetrically installed with on the pedestal 8 of described cradle head of two degrees of freedom (referring to Fig. 1, shown in Figure 2) to be equipped with on the first U-shaped frame, 3, the first U-shaped framves 3 on first turntable 5, second turntable, 6, the first turntables 5 first roating sphere 1 is installed; Be equipped with on second turntable 6 on the second U-shaped frame, 4, the second U-shaped framves 4 second roating sphere 2 is installed; In the present invention, first turntable 5 is identical with second turntable, 6 structures, and the first U-shaped frame 3 is identical with the second U-shaped frame, 4 structures, and first roating sphere 1 is identical with second roating sphere, 2 structures.The below of described first turntable 5 is equipped with follower gear 52, follower gear 52 and driving gear 53 engagements, driving gear 53 is installed in the output shaft of motor C51 (being used to drive first turntable 5 horizontally rotates) on pedestal 8, be connected with back shaft 55 in the center pit of follower gear 52, the outer cover of back shaft 55 is connected to ball bearing 54, and ball bearing 54 is installed in the through hole 81 of pedestal 8 by screw 7.The right radical portion 33 of the first U-shaped frame 3 is provided with through hole (being used to install ball bearing 32), and ball bearing 32 is installed in the through hole, is socketed with the end of rotating shaft A31 in the ball bearing 32, and axle 31 the other end is installed in the hole of right spheroid 16 of first roating sphere 1; The left root 34 of the first U-shaped frame 3 is provided with through hole (being used to install ball bearing 15), and ball bearing 15 is installed in the through hole, is socketed with the end of rotating shaft B14 in the ball bearing 15, and the other end of rotating shaft B14 is installed in the hole of left spheroid 17 of first roating sphere 1; The left surface 35 of the first U-shaped frame 3 is provided with through hole, and motor A11 is installed in the through hole, and driving gear 12 is installed on the output shaft of motor A11, driving gear 12 and follower gear 13 engagements, and follower gear 13 is installed on the left side 18 of right spheroid 16.
See also shown in Figure 6, in the present invention, the centre of sphere θ of first roating sphere 1
1Centre of sphere θ with second roating sphere 2
2Distance is 20～60cm, and binocular angle α is 30～80 degree.
The hardware circuit of described detecting device based on DSP (referring to shown in Figure 3) includes center processor U1, program storage U2, data-carrier store U3, the first image capture module U11, the second image capture module U12, serial port drive circuit U 10, the first image capture module U11, the second image capture module U12, the first camera clock U15, the second camera clock U16, power supply circuit; In the present invention, power supply circuit is the custom circuit structure, but 1.8V that provides at dsp processor and 2.5V power supply are the unique point of power supply of the present invention.In the present invention, first camera is with the image output sequence image information f after the first image capture module U11 handles that collects
1Give dsp processor, dsp processor is receiving described sequence image information f
1Drive clock control by the first camera clock U15, described drive clock is 24MHz.Second camera is with the image output sequence image information f after the second image capture module U12 handles that collects
2Give dsp processor, dsp processor is receiving described sequence image information f
2Drive clock control by the second camera clock U16, described drive clock is 24MHz.The sequence image information f of dsp processor to receiving
1, sequence image information f
2In " binocular vision image module ", carry out the processing of apery binocular vision after 10 outputs of serial port drive circuit U.
To indicate the connection (shown in Fig. 4 A～Fig. 4 G) of hardware circuit of the present invention below in detail:
Shown in Fig. 4 A, the AC2 end of center processor U1 connects with 3 ends of active crystal oscillating circuit U5, the AA2 end is through resistance R 6 ground connection, the AA2 end connects the 3.3V power supply through resistance R 7, the AE4 end is through resistance R 5 ground connection, the AE4 end connects the 3.3V power supply through resistance R 4, M5 end ground connection after resistance R 3, the P4 end connects with the watchdog circuit U6 that resets, the V6 end connects with power-supply filter circuit U 4, the D6 end connects with the D3 end of the second image capture module U12, the C6 end connects with the D3 end of the first image capture module U11, F4 end respectively with the A3 end of the first image capture module U11, the A3 end of the second image capture module U12 connects, D3 end respectively with the B3 end of the first image capture module U11, the B3 end of the second image capture module U12 connects, the L5 end, F4 end and F3 end connect with motor A, the F2 end, E1 end and AD1 end connect with motor B, the K3 end, J2 end and F1 end connect with motor C, the H4 end, G4 end and C1 end connect with motor D;
As Fig. 4 B, shown in Fig. 4 F, the AF8 end of center processor U1 connects with the D2 end of the first image capture module U11, the AF4 end connects with the D1 end of the first image capture module U11, the A7 end connects with the D2 end of the second image capture module U12, the B8 end connects with the D1 end of the second image capture module U12,8 bit data collection terminal AF5, AF6, AE6, AD6, AC6, AE7, AD7, AC7 respectively with the output terminal B4 of the first image capture module U11, A4, B5, A5, E5, D5, E4, D4 connects, 8 bit data collection terminal C8, D8, A9, A9, C9, D9, A10, B10 respectively with the output terminal B4 of the second image capture module U12, A4, B5, A5, E5, D5, E4, D4 connects, the AE16 end connects with 8 ends of serial port drive circuit U 10, and the AC16 end connects with 13 ends of serial port drive circuit U 10; The B2 end of the first image capture module U11 connects power supply after resistance R 16, the E2 end connects with 2 ends of the first camera clock U15; The B2 end of the second image capture module U12 connects power supply after resistance R 18, the E2 end connects with 2 ends of the second camera clock U16; 9 ends of serial port drive circuit U 10 connect with 2 ends of communication interface J1, and 11 ends connect with 3 ends of communication interface J1; 1 end resistance R, 14 ground connection of serial port drive circuit U 10,2 ends connect 4 ends by capacitor C 6,3 ends are by capacitor C 7 ground connection, 5 ends connect 6 ends by capacitor C 10,7 ends are by capacitor C 9 ground connection, 12 ends are by resistance R 15 ground connection, and 15 termination power 3.3V connect 14 ends and ground connection by capacitor C 8 simultaneously, and 16 ends meet 3.3V by resistance R 13;
As Fig. 4 C, Fig. 4 D, shown in Fig. 4 E, the 8 bit data line end C19 of center processor U1, D19, A20, D20, B20, C20, A21, D21 respectively behind resistance with 29 of program storage U2,31,33,35,38,40,42,44 connect, 16 bit data line end C19, D19, A20, D20, B20, C20, A21, D21, B21, C21, A23, C22, B22, B23, A24, B24 respectively behind resistance with 2 of data-carrier store U3,4,5,7,8,10,11,13,42,44,45,47,48,50,51,53 connect, 20 bit address line end M24, M23, N26, N24, N23, P26, P24, P23, R24, R23, T25, T24, U26, U25, U24, V23, V26, V25, V24, U23 respectively behind resistance with 16 of program storage U2,17,48,1～8,18～25 connect, 12 bit address line end M24, M23, N26, N24, N23, P26, P24, P23, R24, R23, T25, T24 respectively behind resistance with 23～26 of data-carrier store U3,29～34,22,35 connect, the K25 end connects with 19 ends of data-carrier store U3 behind resistance, the K24 end connects with 26 ends of program storage U2 behind resistance, the J24 end connects with 18 ends of data-carrier store U3 respectively behind resistance, 28 ends of program storage U2 connect, the J25 end connects with 17 ends of data-carrier store U3 behind resistance, the K26 end connects with 16 ends of data-carrier store U3 respectively behind resistance, 11 ends of program storage U2 connect, the L24 end connects with 15 ends of data-carrier store U3, the L23 end connects with 39 ends of data-carrier store U3, the L22 end of dsp processor U1 meets 3.3V after resistance R 20, connect the back simultaneously connects with 15 ends of program storage U2 with reset switch JP1,15 ends of program storage U2 meet 3.3V after resistance R 23,47 ends of program storage U2 ground connection after resistance R 24,12 ends meet 3.3V after resistance R 25,27 ends, 46 end ground connection, and be in series with capacitor C 17 with 37 ends, 37 termination 3.3V, the digital power 1 of data-carrier store U3,14,27 ends are by capacitor C 18, capacitor C 19, capacitor C 20 is in parallel with digitally 41,28,54 ends connect and ground connection, power supply 3,9,49,43 ends are by capacitor C 21, capacitor C 22, capacitor C 23, capacitor C 24 in parallel and ground 52,46,12,6 ends connect and ground connection.
Shown in Fig. 4 G, 1.8V pass through capacitor C 28 ground connection behind 1 end of power-switching circuit U13,2 ends, the 3 termination 5V power supplys, 4 ends, 6 end ground connection, 7 ends, 8 ends pass through capacitor C 25 ground connection after meeting 1.8V by inductance L 3, and 1.8V connects 5 ends by resistance R 27 and capacitor C 26 after in parallel, again by resistance R 28 and capacitor C 27 back in parallel ground connection, 9 ends, 10 end ground connection;
2.5V pass through capacitor C 32 ground connection behind 1 end of power-switching circuit U14,2 ends, the 3 termination 5V power supplys, 4 ends, 6 end ground connection, 7 ends, 8 ends pass through capacitor C 29 ground connection after meeting 2.5V by inductance L 4, and 2.5V connects 5 ends by resistance R 29 and capacitor C 30 after in parallel, again by resistance R 30 and capacitor C 31 back in parallel ground connection, 9 ends, 10 end ground connection.
As shown in Figure 5, the present invention adopts under the apery binocular vision theory, treatment scheme to binocular vision image module (being stored among the program storage U2) is: under the condition of system initialization, at first four motors are carried out position initialization, wherein, the first camera direction is aimed at outside the car, and the second camera direction is aimed at the driver; Two cameras carry out pre-service, cut apart, understand, discern the image of gathering in image acquisition, processing unit, and judge car external environment situation in the image of first camera collection, like rain, snow, mist, fine grade, first state of weather be divided into five grades greatly, big or middle, less, little; Judge the driver fatigue state of second camera, as normal, tired; Detect target in first camera by Target Recognition Algorithms simultaneously, as the appearance of vehicle, pedestrian's crisis situations such as appearance, if there is the crisis situation to occur, then four motors will drive the two degrees of freedom turntable, first camera and second camera are aimed at the mark, and detect the distance of target and car in real time; Effective image for first camera and second camera collection is better images information (as shown in Figure 6) with binocular angle α at 60 degree; When target range during less than the safety value that sets, be judged as standard (according to circumstances setting up on their own) with the relative velocity and the distance of car and target by the user, during less than standard, output alarm information; After target disappears, return original state, proceed environmental monitoring.
The environment measurement of system of the present invention:
By four motors on the dsp processor control cradle head of two degrees of freedom, make two cameras (in the circular hole that is installed in first roating sphere 1, another is installed in the circular hole of second roating sphere 2) keep initial angle (image intersects 60 degree), gather the outer image of car in real time.Dsp processor is analyzed the image information that receives, and judges rain, snow, mist, fine vaporous condition, exports to PC or LCD display or Vehicular display device through the serial port drive circuit then.
The front-and-rear vehicle distance of system of the present invention is measured:
Car target before and after finding, adjust first roating sphere 1 and second roating sphere 2,2 cameras in the roating sphere are aimed at the mark, detect in real time front-and-rear vehicle distance, near (away from) speed, acceleration, disappear until the car target, and export to PC or LCD display or Vehicular display device by the serial port drive circuit.
Center processor:
The DSP DSP chip is to be designed to a kind of microprocessor that is particularly suitable for carrying out digital signal processing.DSP not only is greatly improved on arithmetic speed, and greatly improvement is being arranged aspect versatility and the dirigibility.In addition, the cost of dsp chip, volume, weight and power consumption have also all had decline significantly.The design selects the DM642 chip, and its peak value arithmetic speed when the 500MHz clock can reach 2800MIPS.
Four selection of Motor:
Adopt stepper motor to carry out the rotation of first roating sphere 1, second roating sphere 2, first turntable 3, second turntable 4 respectively, make 2 minisize pick-up heads can comprehensively obtain pictorial information.Motor A drives first roating sphere 1 and rotates, and motor B drives second roating sphere 2 and rotates, and motor C drives first turntable 3 and rotates, and motor D drives second turntable 4 and rotates.Motor B, motor D are not shown.
The two degrees of freedom turntable:
Adopt 1 camera of two turning axle control to carry out the omnidirectional images collection, really realized the vision collecting of apery binocular target.Turntable utilization gear transmission mode, volume is little, in light weight, simple in structure.
In the present invention, the physical significance of label is in the hardware circuit:
| U1 | The expression dsp processor. |
| U2 | The representation program storer. |
| U3 | The expression data-carrier store. |
| U4 | Expression power-supply filter circuit. |
| U5 | Represent active crystal oscillating circuit. |
| U6 | Expression resets and watchdog circuit. |
| U10 | Expression serial port drive circuit. |
| U11 | The circuit that is used for image acquisition that expression connects with first camera is called for short first image capture module. |
| U12 | The circuit that is used for image acquisition that expression connects with second camera is called for short second image capture module. |
| U13 | Expression 1.8V power-switching circuit. |
| U14 | Expression 2.5V power-switching circuit. |
| U15 | Be expressed as first camera the clock source circuit of gathering clock is provided, be called for short the first camera clock. |
| U16 | Be expressed as second camera the clock source circuit of gathering clock is provided, be called for short the second camera clock. |
| J1 | The serial communication interface that expression and external communication are used. |
Claims (4)
1, a kind of vehicle environment and Range Measurement System based on binocular vision is characterized in that: be made up of detecting device, cradle head of two degrees of freedom, motor, first camera and second camera based on DSP; Cradle head of two degrees of freedom is connected by cable with detecting device based on DSP, and motor, first camera, second camera are assemblied on the cradle head of two degrees of freedom;
Described detecting device based on DSP is made up of hardware circuit and binocular vision image module, and the binocular vision image module is stored among the program storage U2 of hardware circuit.The binocular vision image module adopts the method for compilation and C language hybrid programming, and the CCS Integrated Development Environment is carried out the concrete data that treatment of picture, analysis, explanation, judgement are obtained the car internal and external environment, and with the actual range of front and back vehicle, and through 10 outputs of serial port drive circuit U.
2, vehicle environment and Range Measurement System based on binocular vision according to claim 1, it is characterized in that: be symmetrically installed with first turntable (5), second turntable (6) on the pedestal of described cradle head of two degrees of freedom (8), the first U-shaped frame (3) is installed on first turntable (5), on the first U-shaped frame (3) first roating sphere (1) is installed; The second U-shaped frame (4) is installed on second turntable (6), on the second U-shaped frame (4) second roating sphere (2) is installed; Described first turntable (5) is identical with described second turntable (6) structure, and the described first U-shaped frame (3) is identical with described second U-shaped frame (4) structure, and described first roating sphere (1) is identical with described second roating sphere (2) structure;
The below of described first turntable (5) is equipped with follower gear (52), follower gear (52) and driving gear (53) engagement, driving gear (53) is installed on the output shaft of motor C (51), be connected with back shaft (55) in the center pit of follower gear (52), the outer cover of back shaft (55) is connected to ball bearing (54), and ball bearing (54) is installed in the through hole (81) of pedestal (8) by screw (7);
The right radical portion (33) of the first U-shaped frame (3) is provided with through hole, ball bearing (32) is installed in the through hole, be socketed with the end of rotating shaft A (31) in the ball bearing (32), the other end of rotating shaft A (31) is installed in the hole of right spheroid (16) of first roating sphere (1); The left root (34) of the first U-shaped frame (3) is provided with through hole, ball bearing (15) is installed in the through hole, be socketed with the end of rotating shaft B (14) in the ball bearing (15), the other end of rotating shaft B (14) is installed in the hole of left spheroid (17) of first roating sphere (1); The left surface (35) of the first U-shaped frame (3) is provided with through hole, motor A (11) is installed in the through hole, driving gear (12) is installed on the output shaft of motor A (11), driving gear (12) and follower gear (13) engagement, follower gear (13) is installed on the left side (18) of right spheroid (16).
3, vehicle environment and Range Measurement System based on binocular vision according to claim 1 is characterized in that: the hardware circuit of described detecting device based on DSP includes center processor U1, program storage U2, data-carrier store U3, the first image capture module U11, the second image capture module U12, serial port drive circuit U 10, the first image capture module U11, the second image capture module U12, the first camera clock U15, the second camera clock U16, power supply circuit;
First camera is with the image output sequence image information f after the first image capture module U11 handles that collects
1Give dsp processor, dsp processor is receiving described sequence image information f
1Drive clock control by the first camera clock U15, described drive clock is 24MHz;
Second camera is with the image output sequence image information f after the second image capture module U12 handles that collects
2Give dsp processor, dsp processor is receiving described sequence image information f
2Drive clock control by the second camera clock U16, described drive clock is 24MHz;
The sequence image information f of dsp processor to receiving
1, sequence image information f
2In the binocular vision image module, carry out the processing of apery binocular vision after 10 outputs of serial port drive circuit U.
4, vehicle environment and Range Measurement System based on binocular vision according to claim 3, it is characterized in that: the AC2 end of center processor U1 connects with 3 ends of active crystal oscillating circuit U5, the AA2 end is through resistance R 6 ground connection, the AA2 end connects the 3.3V power supply through resistance R 7, the AE4 end is through resistance R 5 ground connection, the AE4 end connects the 3.3V power supply through resistance R 4, M5 end ground connection after resistance R 3, the P4 end connects with the watchdog circuit U6 that resets, the V6 end connects with power-supply filter circuit U 4, the D6 end connects with the D3 end of the second image capture module U12, the C6 end connects with the D3 end of the first image capture module U11, F4 end respectively with the A3 end of the first image capture module U11, the A3 end of the second image capture module U12 connects, D3 end respectively with the B3 end of the first image capture module U11, the B3 end of the second image capture module U12 connects, the L5 end, F4 end and F3 end connect with motor A, the F2 end, E1 end and AD1 end connect with motor B, the K3 end, J2 end and F1 end connect with motor C, the H4 end, G4 end and C1 end connect with motor D; The AF8 end of center processor U1 connects with the D2 end of the first image capture module U11, the AF4 end connects with the D1 end of the first image capture module U11, the A7 end connects with the D2 end of the second image capture module U12, the B8 end connects with the D1 end of the second image capture module U12,8 bit data collection terminal AF5, AF6, AE6, AD6, AC6, AE7, AD7, AC7 respectively with the output terminal B4 of the first image capture module U11, A4, B5, A5, E5, D5, E4, D4 connects, 8 bit data collection terminal C8, D8, A9, A9, C9, D9, A10, B10 respectively with the output terminal B4 of the second image capture module U12, A4, B5, A5, E5, D5, E4, D4 connects, the AE16 end connects with 8 ends of serial port drive circuit U 10, and AC 16 ends connect with 13 ends of serial port drive circuit U 10; The B2 end of the first image capture module U11 connects power supply after resistance R 16, the E2 end connects with 2 ends of the first camera clock U15; The B2 end of the second image capture module U12 connects power supply after resistance R 18, the E2 end connects with 2 ends of the second camera clock U16; 9 ends of serial port drive circuit U 10 connect with 2 ends of communication interface J1, and 11 ends connect with 3 ends of communication interface J1; 1 end resistance R, 14 ground connection of serial port drive circuit U 10,2 ends connect 4 ends by capacitor C 6,3 ends are by capacitor C 7 ground connection, 5 ends connect 6 ends by capacitor C 10,7 ends are by capacitor C 9 ground connection, 12 ends are by resistance R 15 ground connection, and 15 termination power 3.3V connect 14 ends and ground connection by capacitor C 8 simultaneously, and 16 ends meet 3.3V by resistance R 13; The 8 bit data line end C19 of center processor U1, D19, A20, D20, B20, C20, A21, D21 respectively behind resistance with 29 of program storage U2,31,33,35,38,40,42,44 connect, 16 bit data line end C19, D19, A20, D20, B20, C20, A21, D21, B21, C21, A23, C22, B22, B23, A24, B24 respectively behind resistance with 2 of data-carrier store U3,4,5,7,8,10,11,13,42,44,45,47,48,50,51,53 connect, 20 bit address line end M24, M23, N26, N24, N23, P26, P24, P23, R24, R23, T25, T24, U26, U25, U24, V23, V26, V25, V24, U23 respectively behind resistance with 16 of program storage U2,17,48,1～8,18～25 connect, 12 bit address line end M24, M23, N26, N24, N23, P26, P24, P23, R24, R23, T25, T24 respectively behind resistance with 23～26 of data-carrier store U3,29～34,22,35 connect, the K25 end connects with 19 ends of data-carrier store U3 behind resistance, the K24 end connects with 26 ends of program storage U2 behind resistance, the J24 end connects with 18 ends of data-carrier store U3 respectively behind resistance, 28 ends of program storage U2 connect, the J25 end connects with 17 ends of data-carrier store U3 behind resistance, the K26 end connects with 16 ends of data-carrier store U3 respectively behind resistance, 11 ends of program storage U2 connect, the L24 end connects with 15 ends of data-carrier store U3, the L23 end connects with 39 ends of data-carrier store U3, the L22 end of dsp processor U1 meets 3.3V after resistance R 20, connect the back simultaneously connects with 15 ends of program storage U2 with reset switch JP1,15 ends of program storage U2 meet 3.3V after resistance R 23,47 ends of program storage U2 ground connection after resistance R 24,12 ends meet 3.3V after resistance R 25,27 ends, 46 end ground connection, and be in series with capacitor C 17 with 37 ends, 37 termination 3.3V, the digital power 1 of data-carrier store U3,14,27 ends are by capacitor C 18, capacitor C 19, capacitor C 20 is in parallel with digitally 41,28,54 ends connect and ground connection, power supply 3,9,49,43 ends are by capacitor C 21, capacitor C 22, capacitor C 23, capacitor C 24 in parallel and ground 52,46,12,6 ends connect and ground connection; 1.8V pass through capacitor C 28 ground connection behind 1 end of power-switching circuit U13,2 ends, the 3 termination 5V power supplys, 4 ends, 6 end ground connection, 7 ends, 8 ends pass through capacitor C 25 ground connection after meeting 1.8V by inductance L 3, and 1.8V connects 5 ends by resistance R 27 and capacitor C 26 after in parallel, again by resistance R 28 and capacitor C 27 back in parallel ground connection, 9 ends, 10 end ground connection; 2.5V pass through capacitor C 32 ground connection behind 1 end of power-switching circuit U14,2 ends, the 3 termination 5V power supplys, 4 ends, 6 end ground connection, 7 ends, 8 ends pass through capacitor C 29 ground connection after meeting 2.5V by inductance L 4, and 2.5V connects 5 ends by resistance R 29 and capacitor C 30 after in parallel, again by resistance R 30 and capacitor C 31 back in parallel ground connection, 9 ends, 10 end ground connection.
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